Lenze i510 - Page 123

Command 1st byte Data length Info
hex dec
Read response 0x43 67 4 bytes Inverter response to a read request with the current parameter value.
0x4B 75 2 bytes
0x4F 79 1 byte
0x41 65 Block
Error response 0x80 128 4 bytes Inverter response to the incorrect execuon of the read/write request.
More precisely, the command byte comprises the following informaon:
Command 1st byte
Command specier (cs) Toggle (t) Length* e s
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Write request 0 0 1 0 0/1 0/1 1 1
Write response 0 1 1 0 0 0 0 0
Read request 0 1 0 0 0 0 0 0
Read response 0 1 0 0 0/1 0/1 1 1
Error response 1 0 0 0 0 0 0 0
*Bit coding of the length: 00 = 4 bytes, 01 = 3 bytes, 10 = 2 bytes, 11 = 1 byte
e: expedited (shortened block service)
s: segmen
ted (normal block service)
More commands are dened in the DS301 V4.02 CANopen specicaon (e.g. segmen
ted
transfer).
Maximally 4 bytes are available for parameter value entries. Depending on the data format,
they are assigned as follows:
5th byte 6th byte 7th byte 8th byte
Parameter value (1 byte) 0x00 0x00 0x00
Parameter value (2 bytes) 0x00 0x00
LOW byte HIGH byte
Parameter value (4 bytes)
LOW word HIGH word
LOW byte HIGH byte LOW byte HIGH byte
The parameter aribute list in the annex also species a scaling factor. The scal-
ing factor is relev
ant to the transmission of parameter values which are repre-
sented with one or several decimal posions in the parameter list. If the scaling
factor is > 1, before the transmission, the value must be mulplied with the scal-
ing factor specied, so that the value can be transferred completely (as an inte-
ger value). On the SDO-client side, the integer value must then be divided by the
scaling factor again, in order to receive the original value with decimal posions.
4Parameter aribute list ^ 229
Parameter Name / value range / [default seng] Info
0x1200:000 SDO1 server parameter: Highest subindex
•
Read only
0x1200:001 SDO1 server par
ameter: COB-ID client -> server (RX)
•
Read only
Display of the receive idener for SDO server channel 1 (basic SDO
channel).
•
According to DS301 V4.02, the basic SDO channel can neither be
changed nor deacvated.
0x1200:002 SDO1 server parameter: COB-ID server -> client (TX)
•
Read only
Display of the transmit idener for SDO server channel 1 (basic SDO
channel).
•
According to DS301 V4.02, the basic SDO channel can neither be
changed nor deacvated.
0x1201:000 SDO2 server parameter: Highest subindex
•
Read only
Conguring the network
CANopen
CANopen service data objects
123
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